#pragma once

#define SYNC0 0
#define SYNC1 1
#define SYNC2 2

#define PULSE 0
#define OPEN 1
#define CLOSE 2
#define POLLING 3
#define ENABLE 4
#define SETA 5
#define SETV 6
#define SETO 7
#define MOVE 8
#define ROTATE 9
#define SETRV 10
#define VEL 11
#define HEAD 12
#define DHEAD 13
#define SAY 15
#define JOYREQUEST 17
#define CONFIG 18
#define ENCODER 19
#define RVEL 21
#define DCHEAD 22
#define SETRA 23
#define SONAR 28
#define STOP 29
#define DIGOUT 30
#define VEL2 32
#define GRIPPER 33
#define ADSEL 35
#define GRIPPERVAL 36
#define GRIPREQUEST 37
#define IOREQUEST 40
#define TTY2 42
#define GETAUX 43
#define BUMPSTALL 44
#define TCM2 45
#define JOYDRIVE 47

#define SONARCYCLE 48
#define HOSTBAUD 50
#define AUX1BAND 51
#define AUX2BAND 52
#define AUX3BAND 53
#define E_STOP 55
#define M_STALL 56
#define GYROREQUEST 58
#define LCDWRITE 59
#define TTY4 60
#define GETAUX3 61
#define TTY3 66
#define GETAUX2 67
#define CHARGE 68
// ARM 70-80
#define ROTKP 82
#define ROTKV 83
#define ROTKI 84
#define TRANSKP 85
#define TRANSKV 86
#define TRANSKI 87
#define REVCOUNT 88
#define DRIFTFACTOR 89
#define SOUNDTOG 92
#define TICKSMM 93
#define BATTEST 250
#define RESET 253
#define MAINTENANCE 255

#define ARG_POS_INT 0x3B
#define ARG_NEG_INT 0x1B
#define ARG_STRING  0x2B


